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Repetitive process based iterative learning control designed by LMIs and experimentally verified on a gantry robot

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7 Author(s)
Lukasz Hladowski ; Institute of Control and Computation Engineering, University of Zielona, Gora, Poland ; Zhonglun Cai ; Krzysztof Galkowski ; Eric Rogers
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In this paper we use a 2D systems setting to develop new results on iterative learning control for linear single-input single-output (SISO) plants, where it is well known in the subject area that a trade-off exists between speed of convergence and the response along the trials. Here we give new results by designing the control scheme using a strong form of stability for repetitive processes/2D linear systems known as stability along the pass (or trial). The design computations are in terms of Linear Matrix Inequalities (LMIs) and results from experimental verification on a gantry robot are also given.

Published in:

2009 American Control Conference

Date of Conference:

10-12 June 2009